Autonomous driving research and development rely heavily on the use of public datasets in the computer vision and robotics communities [1]}, [2]}, [3]}. Camera and LiDAR are the two primary perceptual sensors that are usually adopted. However, since these are visible spectrum sensors, the data is affected dramatically by bad weather, causing attenuation, multiple scattering and turbulence [4]}, [5]}, [6]}, [7]}, [8]}.
On the other hand, a radar sensor is known to be more robust in adverse conditions [9]}, [10]}, [11]}. However, there are few public radar datasets for automotive applications, especially in bad weather and with object annotation.
